task_state_machine

Syntax

task_state_machine <name> [frequency_hz] [priority] [disable_warnings]:

Available in

• File scope

Lifecycle

Activation declares states and task channels; the current handler runs while active and transitions only when script code requests one. Optional disable_warnings suppresses timing warnings while keeping measurements, skipped-cycle counts and callback errors.

Persistence

Runtime variables and current state persist between handlers within a run. Each task start recreates working state; initialize data before reading it. A state once block runs again on each state entry.

Reload behavior

DARTWIC tracks changes to the block and its template dependencies when loading the task.

Rules

• Frequency is positive Hz and defaults to 10. Priority is background, normal (default), high, or critical; supply a frequency before priority. The optional disable_warnings flag comes last.

Runtime sections

• start
• state
• missed
• end

Generated channels

• <name>_running
• <name>_target_frequency
• <name>_actual_frequency
• <name>_execution_time
• <name>_missed_cycles
• <name>_hold
• <name>_current_state
• <name>_target_state
• <name>_failed_cycles

Example

task_state_machine task_name:
    states:
        idle
        running

    state idle:
        if target_state == states.running:
            transition running